gazebo_quadrotor_aerodynamics.h
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00001 //=================================================================================================
00002 // Copyright (c) 2012, Johannes Meyer, TU Darmstadt
00003 // All rights reserved.
00004 
00005 // Redistribution and use in source and binary forms, with or without
00006 // modification, are permitted provided that the following conditions are met:
00007 //     * Redistributions of source code must retain the above copyright
00008 //       notice, this list of conditions and the following disclaimer.
00009 //     * Redistributions in binary form must reproduce the above copyright
00010 //       notice, this list of conditions and the following disclaimer in the
00011 //       documentation and/or other materials provided with the distribution.
00012 //     * Neither the name of the Flight Systems and Automatic Control group,
00013 //       TU Darmstadt, nor the names of its contributors may be used to
00014 //       endorse or promote products derived from this software without
00015 //       specific prior written permission.
00016 
00017 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00018 // ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00019 // WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00020 // DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
00021 // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00022 // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00023 // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00024 // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00025 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00026 // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00027 //=================================================================================================
00028 
00029 #ifndef HECTOR_QUADROTOR_GAZEBO_PLUGINS_QUADROTOR_AERODYNAMICS_H
00030 #define HECTOR_QUADROTOR_GAZEBO_PLUGINS_QUADROTOR_AERODYNAMICS_H
00031 
00032 #include <gazebo/common/Plugin.hh>
00033 #include <gazebo/common/Time.hh>
00034 #include <gazebo/math/Vector3.hh>
00035 
00036 #include <ros/callback_queue.h>
00037 #include <ros/ros.h>
00038 
00039 #include <boost/thread.hpp>
00040 
00041 #include <hector_quadrotor_model/quadrotor_aerodynamics.h>
00042 
00043 namespace gazebo
00044 {
00045 
00046 class GazeboQuadrotorAerodynamics : public ModelPlugin
00047 {
00048 public:
00049   GazeboQuadrotorAerodynamics();
00050   virtual ~GazeboQuadrotorAerodynamics();
00051 
00052 protected:
00053   virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf);
00054   virtual void Reset();
00055   virtual void Update();
00056 
00057 private:
00059   physics::WorldPtr world;
00060 
00062   physics::LinkPtr link;
00063 
00064   hector_quadrotor_model::QuadrotorAerodynamics model_;
00065 
00066   ros::NodeHandle* node_handle_;
00067   ros::CallbackQueue callback_queue_;
00068   boost::thread callback_queue_thread_;
00069   void QueueThread();
00070 
00071   ros::Subscriber wind_subscriber_;
00072   ros::Publisher wrench_publisher_;
00073 
00074   std::string body_name_;
00075   std::string namespace_;
00076   std::string param_namespace_;
00077   double control_rate_;
00078   std::string wind_topic_;
00079   std::string wrench_topic_;
00080   std::string frame_id_;
00081 
00082   common::Time last_time_;
00083 
00084   // Pointer to the update event connection
00085   event::ConnectionPtr updateConnection;
00086 };
00087 
00088 }
00089 
00090 #endif // HECTOR_QUADROTOR_GAZEBO_PLUGINS_QUADROTOR_AERODYNAMICS_H


hector_quadrotor_gazebo_plugins
Author(s): Johannes Meyer
autogenerated on Thu Jun 6 2019 21:33:01